EP3328594A4 - Self-contained robotic gripper system - Google Patents

Self-contained robotic gripper system Download PDF

Info

Publication number
EP3328594A4
EP3328594A4 EP16831472.2A EP16831472A EP3328594A4 EP 3328594 A4 EP3328594 A4 EP 3328594A4 EP 16831472 A EP16831472 A EP 16831472A EP 3328594 A4 EP3328594 A4 EP 3328594A4
Authority
EP
European Patent Office
Prior art keywords
self
gripper system
robotic gripper
contained robotic
contained
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP16831472.2A
Other languages
German (de)
French (fr)
Other versions
EP3328594B1 (en
EP3328594A1 (en
Inventor
Ryan KNOPF
Joshua Lessing
Daniel Harburg
Grant SELLERS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Soft Robotics Inc
Original Assignee
Soft Robotics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Soft Robotics Inc filed Critical Soft Robotics Inc
Priority to EP21199625.1A priority Critical patent/EP3964335A1/en
Publication of EP3328594A1 publication Critical patent/EP3328594A1/en
Publication of EP3328594A4 publication Critical patent/EP3328594A4/en
Application granted granted Critical
Publication of EP3328594B1 publication Critical patent/EP3328594B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
EP16831472.2A 2015-07-30 2016-08-01 Self-contained robotic gripper system Active EP3328594B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21199625.1A EP3964335A1 (en) 2015-07-30 2016-08-01 Self-contained robotic gripper system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201562199029P 2015-07-30 2015-07-30
PCT/US2016/045063 WO2017020047A1 (en) 2015-07-30 2016-08-01 Self-contained robotic gripper system

Related Child Applications (1)

Application Number Title Priority Date Filing Date
EP21199625.1A Division EP3964335A1 (en) 2015-07-30 2016-08-01 Self-contained robotic gripper system

Publications (3)

Publication Number Publication Date
EP3328594A1 EP3328594A1 (en) 2018-06-06
EP3328594A4 true EP3328594A4 (en) 2019-04-10
EP3328594B1 EP3328594B1 (en) 2021-09-29

Family

ID=57885590

Family Applications (2)

Application Number Title Priority Date Filing Date
EP21199625.1A Pending EP3964335A1 (en) 2015-07-30 2016-08-01 Self-contained robotic gripper system
EP16831472.2A Active EP3328594B1 (en) 2015-07-30 2016-08-01 Self-contained robotic gripper system

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP21199625.1A Pending EP3964335A1 (en) 2015-07-30 2016-08-01 Self-contained robotic gripper system

Country Status (6)

Country Link
US (4) US10046462B2 (en)
EP (2) EP3964335A1 (en)
JP (3) JP6709840B2 (en)
CN (1) CN108290284B (en)
ES (1) ES2902371T3 (en)
WO (1) WO2017020047A1 (en)

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US10536946B2 (en) 2015-12-08 2020-01-14 Huawei Technologies Co., Ltd. Method and system for performing network slicing in a radio access network
EP3439835A1 (en) * 2016-04-07 2019-02-13 Soft Robotics, Inc. Soft robotic actuators for positioning, packaging, and assembling
US10350504B2 (en) 2016-09-13 2019-07-16 Universal City Studios Llc Systems and methods for incorporating pneumatic robotic systems into amusement park attractions
WO2018183819A2 (en) * 2017-03-30 2018-10-04 Soft Robotics, Inc. Servo-pneumatic control systems for soft robotic actuators
CN111148608A (en) * 2017-05-01 2020-05-12 软机器人公司 Structure for robot end effector
CN107350992A (en) * 2017-05-04 2017-11-17 苏州柔触机器人科技有限公司 A kind of novel flexible chuck and its flexible fixture and flexible clamping pen
US20180363790A1 (en) * 2017-06-15 2018-12-20 Banza Stamping Industry Corp. Universal air pressure valve module
KR102119946B1 (en) * 2017-07-14 2020-06-08 서울대학교산학협력단 Large Deformable Soft Robot and Stacking Mold for Large Deformable Soft Robot
US11254013B2 (en) * 2017-10-11 2022-02-22 Softbox Patents Aps Interchangeable robot gripper base
FR3073440B1 (en) * 2017-11-16 2019-10-25 Warein INFLATABLE TUBE WITH VARIABLE GEOMETRY AND CONSTANT VOLUME, ROBOTIC ARM AND ROBOT
US10850391B2 (en) 2017-12-04 2020-12-01 Soft Robotics, Inc. Pressurizing housing for a soft robotic actuator
DE102018205642A1 (en) * 2018-04-13 2019-10-17 Festo Ag & Co. Kg Interface module for a gripping device and robot equipped therewith
FR3084509B1 (en) * 2018-07-24 2021-01-08 Commissariat Energie Atomique HANDLING DEVICE FOR FUEL ASSEMBLY AND HANDLING ASSEMBLY INCLUDING SUCH A DEVICE
US10456929B1 (en) * 2018-08-13 2019-10-29 Schlumberger Technology Corporation Negative pressure actuated soft bending actuator
CN108994865A (en) * 2018-09-03 2018-12-14 苏州迪天机器人自动化有限公司 A kind of grabbing device
US11780100B2 (en) * 2018-09-14 2023-10-10 The Regents Of The University Of California Four-dimensional-printed pneumatically actuated flexible robotic joints
US11597101B2 (en) * 2018-12-17 2023-03-07 Purdue Research Foundation 3D-architected soft machines with topologically encoded actuation
WO2020237058A1 (en) 2019-05-21 2020-11-26 Trustees Of Boston University Gripping devices and methods for making the same
US11938630B2 (en) 2019-08-30 2024-03-26 Universal City Studios Llc Edible soft robotic systems and methods
US11530621B2 (en) 2019-10-16 2022-12-20 General Electric Company Systems and method for use in servicing a machine
US11642797B2 (en) 2020-03-19 2023-05-09 Tata Consultancy Services Limited Gripper apparatus for grasping objects
JP7331246B2 (en) 2020-03-30 2023-08-22 川崎重工業株式会社 robot arm
CN112643713B (en) * 2020-12-08 2022-07-01 江苏科技大学 Robot end effector high-temperature transmission and deformation detection device and method
JP2024039555A (en) * 2022-09-09 2024-03-22 株式会社ブリヂストン robot hand

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JPS61100394A (en) * 1984-10-19 1986-05-19 株式会社日立製作所 Actuator
US5156081A (en) * 1989-12-20 1992-10-20 Kabushiki Kaisha Toshiba Gripping actuator with independently flexible cylinders
EP0534778A2 (en) * 1991-09-25 1993-03-31 University Of Bristol Controlled flexure element
WO2011130475A2 (en) * 2010-04-15 2011-10-20 Cornell University Gripping and releasing apparatus and method
WO2012148472A2 (en) * 2010-11-19 2012-11-01 President And Fellows Of Harvard College Soft robotic actuators

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JP2004181585A (en) * 2002-12-04 2004-07-02 Seiko Epson Corp Robot hand
CN100346942C (en) * 2003-06-27 2007-11-07 松下电器产业株式会社 Laminated-type multi-joint portion drive mechanism and manufacturing method therefor, grasping hand and robot arm provided with the same
JP4512670B2 (en) * 2008-07-18 2010-07-28 パナソニック株式会社 Hydraulic actuator and joint drive unit using the same
CA2751885A1 (en) * 2009-02-10 2010-08-19 Cbe Global Holdings, Inc. Non-linear actuator system and method
DE102009017591A1 (en) * 2009-04-19 2010-10-21 Rudolf Dr. Bannasch Manipulator tool and holding and / or spreading tool with wengistens a manipulator tool
FR2960468B1 (en) * 2010-05-31 2013-03-29 Commissariat Energie Atomique ARTICULATED INFLATABLE STRUCTURE AND ROBOTIC ARM COMPRISING SUCH A STRUCTURE
EP2961576B1 (en) * 2013-02-27 2020-10-14 Materialise N.V. Gripping apparatus and method of manufacturing a gripping apparatus
EP2964427B1 (en) * 2013-03-04 2020-11-18 President and Fellows of Harvard College Magnetic assembly of soft robots with hard components
WO2014196928A1 (en) * 2013-06-04 2014-12-11 National University Of Singapore A gripping device
US9687362B2 (en) * 2014-04-11 2017-06-27 President And Fellows Of Harvard College Portable prosthetic hand with soft pneumatic fingers

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61100394A (en) * 1984-10-19 1986-05-19 株式会社日立製作所 Actuator
US5156081A (en) * 1989-12-20 1992-10-20 Kabushiki Kaisha Toshiba Gripping actuator with independently flexible cylinders
EP0534778A2 (en) * 1991-09-25 1993-03-31 University Of Bristol Controlled flexure element
WO2011130475A2 (en) * 2010-04-15 2011-10-20 Cornell University Gripping and releasing apparatus and method
WO2012148472A2 (en) * 2010-11-19 2012-11-01 President And Fellows Of Harvard College Soft robotic actuators

Also Published As

Publication number Publication date
US10046462B2 (en) 2018-08-14
JP2021045848A (en) 2021-03-25
US11752641B2 (en) 2023-09-12
US10576640B2 (en) 2020-03-03
JP6709840B2 (en) 2020-06-17
US20220088796A1 (en) 2022-03-24
WO2017020047A1 (en) 2017-02-02
US11161251B2 (en) 2021-11-02
CN108290284A (en) 2018-07-17
US20170028566A1 (en) 2017-02-02
ES2902371T3 (en) 2022-03-28
EP3328594B1 (en) 2021-09-29
JP2018527202A (en) 2018-09-20
US20200078957A1 (en) 2020-03-12
EP3964335A1 (en) 2022-03-09
EP3328594A1 (en) 2018-06-06
JP6912107B2 (en) 2021-07-28
CN108290284B (en) 2019-07-12
JP2019177479A (en) 2019-10-17
US20180319018A1 (en) 2018-11-08

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